Surgical instruments

ABSTRACT

Articulation joints for use in connection with a surgical instrument that has a portion that must be passed through a trocar or similar structure and then articulated relative to another portion of the instrument received within the trocar. Various embodiments of the articulation joint include at least one flexible driven member to articulate the surgical implement relative to the handle assembly of the instrument.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional patent application claiming priority under 35 U.S.C. § 121 to U.S. patent application Ser. No. 16/041,191, entitled SURGICAL INSTRUMENTS, filed Jul. 20, 2018, now U.S. Patent Application Publication No. 2019/0015096, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 14/679,441, entitled SURGICAL INSTRUMENTS, filed Apr. 6, 2015, which issued on Jul. 24, 2018 as U.S. Pat. No. 10,028,742, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 14/506,929, entitled END EFFECTORS FOR SURGICAL STAPLERS, filed Oct. 6, 2014, which issued on Feb. 20, 2018 as U.S. Pat. No. 9,895,147, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 12/731,347, entitled HYDRAULICALLY AND ELECTRICALLY ACTUATED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, filed Mar. 25, 2010, which issued on Oct. 14, 2014 as U.S. Pat. No. 8,858,571, which is a divisional patent application claiming priority under 35 U.S.C. § 121 to U.S. patent application Ser. No. 11/270,866, entitled HYDRAULICALLY AND ELECTRICALLY ACTUATED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, filed Nov. 9, 2005, now U.S. Patent Application Publication No. 2007/0106317, the entire disclosures of which are hereby incorporated by reference herein.

BACKGROUND OF THE INVENTION

Endoscopic surgical instruments are often preferred over traditional open surgical devices since a smaller incision tends to reduce the post-operative recovery time and complications. Generally, these endoscopic surgical instruments include an “end effector”, a handle assembly and a long shaft that extends between the end effector and the handle assembly. The end effector is the portion of the instrument configured to engage the tissue in various ways to achieve a desired diagnostic or therapeutic effect (e.g., endocutter, grasper, cutter, staplers, clip applier, access device, drug/gene therapy delivery device, and energy device using ultrasound, RF, laser, etc.). The end effector and the shaft portion are sized to be inserted through a trocar placed into the patient. The elongated shaft portion enables the end effector to be inserted to a desired depth and also facilitates some rotation of the end effector to position it within the patient. With judicious placement of the trocar and use of graspers, for instance, through another trocar, often this amount of positioning is sufficient. Surgical stapling and severing instruments, such as those described in U.S. Pat. No. 5,465,895, are an example of an endoscopic surgical instrument that successfully positions an end effector by insertion and rotation.

BRIEF DESCRIPTION OF THE FIGURES

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and, together with the general description of the invention given above, and the detailed description of the embodiments given below, serve to explain various principles of the various embodiments of the present invention.

FIG. 1 is a partial perspective view of one non-limiting embodiment of a moment arm extension arrangement employed in connection with a hydraulically operated endocutter with the tube segments thereof in a first substantially coaxially aligned position;

FIG. 2 is another perspective view of the moment arm extension arrangement and endocutter of FIG. 1 with the tube segments articulated at an angle relative to each other;

FIG. 3 is a partial cross-sectional view of an end effector employed in the endocutter depicted in FIGS. 1 and 2 with the anvil thereof in an open or unclamped position with some of the elements thereof omitted for clarity;

FIG. 4 is another cross-sectional view of the end effector of FIG. 3 in a closed or clamped position with the cutting bar in an extended position;

FIG. 5 is another cross-sectional view of the end effector of FIGS. 3 and 4 showing tissue after being cut and stapled therein;

FIG. 6 is an exploded perspective view of the end effector depicted in FIGS. 1-5 ;

FIG. 7 is another exploded assembly view of the end effector and a staple cartridge;

FIG. 8 is a plan view of a staple cartridge installed in an end effector depicted in FIGS. 6 and 7 ;

FIG. 9 is a cross-sectional end view illustrating the end effector inserted into a trocar passageway;

FIG. 10 is a perspective view of a cartridge installed in an end effector with the anvil thereof in an open or unclamped position;

FIG. 11 is a schematic depiction of one hydraulic system embodiment of the present invention;

FIG. 12 is a partial perspective view of one non-limiting embodiment of an articulation joint of the present invention in an articulated position;

FIG. 13 is another partial perspective view of the articulation joint depicted in FIG. 12 in an articulated position;

FIG. 14 is another partial perspective view of the articulation joint embodiment depicted in FIGS. 12 and 13 in an articulated position;

FIG. 15 is a partial cross-sectional view of another non-limiting embodiment of an articulation joint of the present invention in an articulated position;

FIG. 15A is a partial cross-sectional view of another articulation joint of the present invention in an articulated position;

FIG. 16 is a partial cross-sectional view of another articulation joint of the present invention in an articulated position;

FIG. 16A is a partial cross-sectional view of another articulation joint of the present invention in an articulated position;

FIG. 17 is a partial cross-sectional view of another articulation joint embodiment of the present invention in an articulated position;

FIG. 17A is a partial cross-sectional view another articulation joint of the present invention in an articulated position;

FIG. 18 depicts a partially cut-away side elevation view of a surgical instrument in an open position according to various embodiments of the present invention;

FIG. 19 depicts a cross-sectional side elevation detail view along the line 19-19 of FIG. 18 of an end effector of the surgical instrument in an up or open position according to various embodiments of the present invention;

FIG. 20 depicts a cross-sectional side elevation detail view along the line 19-19 of FIG. 18 of an end effector of the surgical instrument in a down or closed position according to various embodiments of the present invention;

FIG. 21 depicts a three dimensional view of the end effector at the distal end of the surgical stapling and severing instrument of FIG. 18 with the anvil in the up or open position and portions of the cartridge largely removed exposing exemplary staple drivers and an exemplary cutting edge according to various embodiments of the present invention;

FIG. 22 depicts a three dimensional view of an end effector at the distal end of the surgical stapling and severing instrument of FIG. 18 with the anvil in the up or open position exposing the staple cartridge and cutting according to various embodiments of the present invention;

FIG. 23 depicts a two dimensional top-down view of an elongate channel of the surgical stapling and severing instrument of FIG. 18 according to various embodiments of the present invention;

FIG. 24 depicts a two dimensional top-down view of a staple cartridge installed in an elongate channel with a portion of the staple cartridge removed to show exemplary staple drivers according to various embodiments of the present invention;

FIG. 25 depicts a three dimensional view of the elongate channel of the surgical stapling instrument of FIG. 18 showing a staple cartridge according to various embodiments of the present invention;

FIG. 26 depicts a section view showing the cross-sectional relationship between the hydraulic bladders according to various embodiments of the present invention;

FIG. 27 depicts a three dimensional, exploded view of the implement portion of the surgical stapling and severing instrument of FIG. 18 according to various embodiments of the present invention;

FIG. 28 depicts an un-inflated hydraulic bladder staple driver for use in a surgical instrument according to various embodiments of the present invention;

FIG. 29 depicts an inflated hydraulic bladder staple driver for use in a surgical instrument according to various embodiments of the present invention;

FIG. 30 depicts a hydraulic cylinder staple driver for use in a surgical instrument according to various embodiments of the present invention;

FIG. 31 depicts a hydraulic staple driving assembly for use in a surgical instrument according to various embodiments of the present invention;

FIG. 32 depicts a side view of a hydraulic staple driving assembly for use in a surgical instrument according to various embodiments of the present invention;

FIG. 33 depicts a top view of a hydraulic staple driving assembly for use in a surgical instrument according to various embodiments of the present invention;

FIG. 34 depicts a side view of a hydraulic staple driving assembly for use in a surgical instrument according to various embodiments of the present invention;

FIG. 35 depicts the distal end of a surgical stapling and severing instrument having an articulating end effector shown in the down or closed position according to various embodiments of the present invention;

FIG. 36 depicts a three dimensional view of a hydraulic surgical instrument according to various embodiments of the present invention;

FIG. 36A depicts a schematic diagram of a hydraulic system for use in a surgical instrument according to various embodiments of the present invention;

FIG. 37 depicts a side elevation view in centerline section of the surgical stapling and severing instrument of FIG. 18 with the end effector in a partially closed but unclamped position gripping tissue according to various embodiments of the present invention;

FIG. 38 depicts a partially cut-away side elevational view of the surgical stapling and severing instrument of FIG. 18 in the closed or clamped position according to various embodiments of the present invention;

FIG. 39 depicts a side elevation view in centerline section of the distal end of the surgical stapling and severing instrument of FIG. 18 in the closed or clamped position with tissue properly compressed according to various embodiments of the present invention;

FIG. 40 depicts a partially cut-away side elevation view of the surgical stapling and severing instrument of FIG. 18 in a partially fired position according to various embodiments of the present invention;

FIG. 41 depicts a side elevation view in centerline section of the distal end of the surgical stapling and severing instrument of FIG. 18 in a partially fired position according to various embodiments of the present invention;

FIG. 42 depicts a partially cut-away side elevation view of the surgical stapling and severing instrument of FIG. 18 in a fully fired position according to various embodiments of the present invention; and

FIG. 43 depicts a side elevation view in centerline section of the distal end of the surgical stapling and severing instrument of FIG. 18 in a fully fired position according to various embodiments of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

Turning to the Figures, wherein like numerals denote like components throughout the several views, FIGS. 1 and 2 depict one embodiment of a surgical instrument 10 that is capable of practicing the unique benefits of the present invention. As can be seen in FIGS. 1 and 2 , the instrument 10 includes a handle assembly 200 and a surgical implement portion 12. As used herein, the term “surgical implement” refers to a component or set of components configured to engage tissue to accomplish a surgical task. Examples of surgical implements include, but are not limited to: endocutters, graspers, clamps, cutters, staplers, clip appliers, probes or access devices, drug/gene therapy delivery devices, energy devices such as ultrasound, RF, or laser devices, etc.

In the non-limiting embodiment depicted in the Figures, the surgical instrument 10 includes a hydraulically actuated end effector 22 and handle arrangement 200 of the type disclosed in the U.S. patent application Ser. No. 11/270,217, entitled SURGICAL INSTRUMENT HAVING A HYDRAULICALLY ACTUATED END EFFECTOR, now U.S. Pat. No. 7,799,039, that was filed on Nov. 9, 2005 and which is commonly owned with the present application and which the disclosure thereof is hereby incorporated by reference in its entirety. As the present Detailed Description proceeds, however, the skilled artisan will readily appreciate that the unique and novel features of the various embodiments of the present invention may also be employed in connection with electrically actuated or pneumatically actuated end effectors. Thus, the various embodiments of the present invention may be advantageously employed in connection with a variety of surgical implements other than the exemplary embodiment depicted in the Figures without departing from the spirit and scope of the present invention. Accordingly, the scope of protection afforded to the various embodiments of the present invention should not be limited to use only with the specific type of surgical implements specifically described herein.

Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated material does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.

FIGS. 3-10 show views of one type of end effector 22 configured to perform clamping, severing and stapling of tissue according to various embodiments the present invention. In one embodiment, the end effector 22 has a body portion 24 that is provided with an elongate channel 26 for receiving a staple cartridge 60 therein. An anvil 28 is coupled to the body portion 24 and is capable of being selectively pivoted toward and away from cartridge 60 mounted in the elongate channel 26. FIGS. 3 and 10 illustrate the anvil 28 in an open position and FIGS. 4 and 5 illustrate the anvil 28 in a closed position. The anvil 28 may be closed hydraulically and returned to its open position by an energy storing device such as a spring 23. As can be seen in FIGS. 3-5 , an actuation bladder 40 may be strategically mounted below a portion of the anvil 28 such that when the bladder 40 is inflated with a pressurized fluid or air, it biases the anvil 28 to its open position. A supply line 42 is coupled to the bladder 40 for supplying pressurized fluid from a reservoir 232 as will be described in further detail below. In alternative non-limiting embodiments, an additional hydraulic cylinder or cylinders may be advantageously employed to open and close the anvil. Still in other non-limiting embodiments, the anvil 28 may be opened and closed by slidable action of a distal tube segment 410 attached thereto.

One type of cartridge that may be used with such end effector is also depicted in FIGS. 3-10 . The staple cartridge 60 has a cartridge body 62 that is divided by an elongated cutting slot 64 that extends from a proximal end 65 of the cartridge 60 toward a tapered outer tip 66. See FIG. 10 . A plurality of staple-receiving channels 68 are formed within the staple cartridge body 64 and are arranged in spaced longitudinal rows 69 on each side of the elongated cutting slot 64. Positioned within the staple-receiving channels are staple drivers 70 that each support one or more staples 72 thereon. The staples 72 are advanced or “fired” by moving their respective drivers 70 in an upward direction toward the anvil 28.

FIG. 10 depicts a three dimensional view of the end effector 22 in an open position with a staple cartridge 60 installed in the elongate channel 26. On a lower surface 30 of the anvil 28, a plurality of staple-forming pockets 32 are arrayed to correspond to each staple receiving channel 68 in the cartridge body 62 when the cartridge 60 is installed in the end effector 22. More specifically, each forming pocket 32 in the anvil 28 may correspond to an individual staple 72 located within the staple cartridge 60. The staple cartridge 60 may be snap-fit into the elongate channel 26. For example, extension features 63 of the staple cartridge 60 engage recesses 27 (shown in FIG. 6 ) of the elongate channel 26.

In one embodiment, the staple drivers 70 are driven in an “upward” (toward the anvil 28) direction by a series of hydraulically actuated bladders 90, 92, 94, 96, 98, 100 situated within the elongated slot 26 of the end effector 22 and arranged such that when the bladders 90, 92, 94, 96, 98, 100 are inflated, they drive or “fire” the corresponding drivers 70 and their respective staples 72 toward the anvil 28. As the ends of the staple legs contact the corresponding staple forming pockets 32 in the anvil 28, they are bent over to close the staple 72. Various firing arrangements are disclosed in the above-mentioned patent application entitled SURGICAL INSTRUMENT HAVING A HYDRAULICALLY ACTUATED END EFFECTOR which has been herein incorporated by reference. Pressurized fluid or air is supplied to the bladders 90, 92, 94, 96, 98, 100 through a series of supply lines as shown in FIGS. 6 and 11 .

Also in one embodiment, to facilitate cutting of tissue 8 clamped in the end effector 22, a hydraulically actuated cutting bar 110 is operatively mounted within the elongated channel 26 and arranged to be received within the elongated slot 64 in the cartridge body 62 when the cartridge 60 is mounted within the end effector 22. The cutting bar 110 extends longitudinally along the elongate slot 64 and is mechanically coupled to or otherwise supported on a support bar 111 which is attached to a hydraulic cutting bladder 102. By introducing a pressurized fluid or air into the cutting bladder 102, the cutting bar 110 is forced upward (represented by arrow A in FIG. 4 ) thereby causing the cutting bar 110 to sever the tissue 8 that is clamped between the anvil 28 and the cartridge 60. After the cutting bar 110 has severed the tissue 8, the pressurized fluid is permitted to exit the cutting bladder 102 to thereby permit the bladder 102 to deflate and permit the cutting bar 110 to move downward (arrow “B” in FIG. 3 ) to its retracted or unfired position. Pressurized fluid or air is supplied to the cutting bladder 102 by supply line 256.

As can be seen in FIGS. 1 and 2 , the handle assembly 200 may house a hydraulic system generally designated as 210 for controlling the operation of the end effector 22. One embodiment of a hydraulic system 210 that may be employed to control the end effector 22 is depicted in schematic form in FIG. 11 . In this non-limiting embodiment, a conventional hydraulic pump assembly 230 that includes a fluid reservoir 232 is employed to supply pressurized fluid to the various bladders. In one embodiment, the pump 230 is powered by a battery 234 supported within the handle assembly 200. However, the pump 230 could also be powered by other means, such as by alternating current or by a mechanical actuator. The pump 230 may be fluidically coupled to the reservoir 232 by supply line 236 that may have a conventional check valve 238 therein. See FIG. 11 . As used herein, the term “fluidically coupled” means that the elements are coupled together with an appropriate supply, return, discharge, etc. line or other means to permit the passage of pressurized fluid medium, air, etc. therebetween. As used herein, the term “line” as used in “supply line”, “discharge line” or “return line” refers to an appropriate fluid passage formed from conduit, pipe, tubing, etc. for transporting pressurized fluid, air, etc. from one component to another.

In one embodiment, a discharge line 240 attached to the discharge port 231 of the pump 230 is piped to a manifold 242 that has designated supply lines for each bladder coupled thereto. For example, in the embodiment depicted in FIG. 11 , a supply line 244 is coupled to bladder 90 and has a control valve 260 therein for controlling the flow of pressurized fluid through the line 244 to bladder 90. Supply line 246 is coupled to bladder 92 and has a control valve 262 therein. Supply line 248 is coupled to bladder 94 and has a control valve 264 therein. Supply line 250 is coupled to bladder 96 and has a control valve 266 therein. Supply line 252 is coupled to bladder 98 and has a control valve 268 therein. Supply line 254 is coupled to bladder 100 and has a control valve 270 therein. Supply line 256 is coupled to cutting bladder 102 and has control valve 272 therein. Supply line 42 is coupled to the anvil bladder 40 and the supply line 240 by line 241. A supply valve 274 is provided in line 241 for controlling the flow of pressurized fluid thereto and a return valve 276 is provided to permit the fluid to return from the bladder 40 into the manifold line 242 and through a return line 259 that is attached to the manifold 242 and the reservoir 232. As can be seen in FIG. 11 , the return line 259 may have a return valve 278 therein. Valves 262, 264, 266, 268, 270, 272, 274, 276, 278 comprise a valve unit, generally designated as 280. In various non-limiting embodiments, the valves 262, 264, 266, 268, 270, 272, 274, 276, 278 may each comprise electrically actuated valves, such as, for example, piezo valves or Electro Active Polymer (EAP) valves which may be configured in response to an electrical signal. However, other suitable valve and valve arrangements could be employed.

The above-described valves may be operated by a control circuit 300 in response to input received from input buttons, such as buttons 308, 310, 312, 314, and/or 316 located on handle. The control circuit may also be powered by the battery 234 and comprise a suitable circuit capable of generating signals for configuring valve unit 280 in response to input from buttons 308, 310, 312, 314, 316 and/or from other portions of the handle such as a closure trigger 206 and/or a firing trigger 208 that are pivotally coupled thereto. In one non-limiting embodiment, the control circuit 300 may include a microprocessor and other related components including Random Access Memory (RAM), Read Only Memory (ROM), etc. In other non-limiting embodiments, the control circuit 300 may include various logical circuit elements.

As can be seen in FIGS. 1 and 2 , in one non-limiting embodiment, the handle assembly 200 of the instrument 10 includes a pistol grip 204 that includes a closure trigger 206 that is pivotally attached thereto to commence closure of the anvil 28. In one embodiment, a closure trigger sensor 205 is employed to sense when the closure trigger 206 has been pivoted to the closed position. The closure trigger sensor 205 communicates with the control circuit to open the return valve 276 and return valve 278 and close supply valve 274 to permit the pressurized fluid to return from the anvil bladder 28 into the reservoir 232. The anvil 28 is then pivoted to the closed position by the return spring 23. The closure trigger 206 may be retained in the closed position by a release button latch arrangement 36 of the type disclosed in U.S. Pat. No. 6,905,057, entitled SURGICAL STAPLING INSTRUMENT INCORPORATING A FIRING MECHANISM HAVING A LINKED RACK TRANSMISSION, the disclosure of which is herein incorporated by reference in its entirety. Another non-limiting embodiment links the closure trigger 206 to the tube assembly 452 and causes it to move distally driving the distal tube 410 over the end effector assembly 24 closing the system.

When the end effector 22 is in the closed position, it may be inserted through the trocar 490. See FIG. 9 . To reopen the end effector 22, the release button 36 is pressed to unlatch the closure trigger 206 to enable it to pivot away from the firing trigger 208 to an open position. When in the open position, the closure trigger sensor 205 signals the control circuit 300 to power pump 230 and open supply valve 274 and close return valve 276. Pressurized fluid is then pumped into the anvil bladder 40 to pivot the anvil 28 to the open position. When the clinician has oriented the end effector 22 such that the desired tissue is located between the open anvil 28 and the cartridge 60, the closure trigger 206 is pivoted to the closed position and latched. Valves 276 and 278 are opened and valve 241 is closed. Valves 276 and 278 are opened for a sufficient time to permit the fluid in the anvil bladder 40 to be returned therefrom through the lines 42, 242 and 259. Thereafter, those valves are closed. As indicated above, the use of the hydraulically powered bladder and return spring arrangement described herein is just one type of structure that may be employed to open and close the anvil 28. Other anvil control arrangements may be employed without departing from the spirit and scope of the present invention and, therefore, the protection afforded to the various embodiments of the present invention should not be limited solely to such bladder and return spring arrangement.

Input buttons 308, 310, 312, 314, 316 may provide input signals to the control circuit 300 in any suitable way. In one non-limiting embodiment, each input button 308, 310, 312, 314, 316 may correspond to a particular valve or valves for controlling the inflation of one or more bladders. While five actuation buttons are shown for this non-limiting embodiment, the reader will appreciate that other numbers of buttons may be employed. For example, if it is desirable to only actuate one stapling bladder at a time, a separate actuation button for each bladder may be provided. For example, button 308 may control valve 272 in the cutter supply line 256. By actuating that valve 272, pressurized fluid supplied by the pump 230 into the manifold 242 is permitted to flow through the supply line 256 into the cutting bladder 102. Likewise, if actuator button 310 is used to control valves 260, 262, activating the button 310 will cause the stapling bladders 90 and 92 to inflate and fire their corresponding staples 72. Multiple buttons may be selected to create firing patterns including more than one implement. In other non-limiting embodiments, each input button 308, 310, 312, 314, 316 may represent a pre-determined firing order and/or pattern. For example, selecting a button 308, 310, 312, 314, 316 may cause the control circuit 318 to configure the valve unit 304 such that hydraulic devices corresponding to particular surgical implements are fired when the firing trigger 28 is depressed. It will be appreciated that various embodiments may have more or fewer input buttons than are shown. In one embodiment, a firing trigger 208 is pivotally attached to the handle 200 outboard of the closure trigger 206 and one or more firing sensors (not shown) may be positioned to detect the position of the firing trigger. The firing sensors would then communicate with the control circuit 300 to control the various valves to permit pressurized fluid to flow to the various staple bladders to achieve a desired firing sequence.

In various non-limiting embodiments, the valve unit 280 may be configured to introduce a delay to the driving of one or more surgical implements included in the end effector 12. For example, it may be desirable to drive a cutting implement and then delay for a predetermined time before driving one or more zones of a stapling implement. The delay may be accomplished according to any suitable method. In one non-limiting embodiment, the control circuit 300 may configure the valve unit 280 to open a path for hydraulic fluid between the hydraulic pump 230 and a first surgical implement included in the end effector 12. When the firing trigger 28 is actuated, the pump 302 may generate pressurized hydraulic fluid, which drives the first surgical implement. The control circuit 300 may sense when the first surgical implement is driven (e.g., by sensing the position of the firing trigger 208) and begin a timer that counts off a predetermined delay time. At the expiration of the predetermined delay time, the control circuit 318 may configure the valve unit 280 to provide the pressurized hydraulic fluid to a second surgical implement. Hydraulic pressure generated at the actuation of the firing trigger 208 may be sufficient to drive the second surgical implement, or in various embodiments, the hydraulic pump 230 may be utilized to generate additional hydraulic pressure.

In one non-limiting embodiment of the present invention, the end effector 22 may be attached to the handle assembly 200 by an articulating joint assembly, generally designated as 400. As can be seen in FIGS. 1, 2, and 12-14 , the articulating joint assembly 400 includes a distal tube segment 410 that has a distal end 412, a proximal end 414, and a distal axis H-H. The distal end 412 is mechanically (e.g., rigidly or slidably connected—depending upon the anvil closure arrangement employed) coupled to the end effector body 24. The distal tube 410 segment may be partially hollow with the proximal end being solid with a hose/wire receiving passage 416 therethrough.

The joint assembly 400 further includes a proximal tube segment 450, that has a proximal end 452, a distal end 454, and a proximal axis I-I. The proximal end 452 is attached to the handle assembly 200. In one embodiment, for example, the proximal end 452 may be attached to the handle assembly 200 by an internal channel retainer that is grounded to the handle assembly. However, other fastening arrangements could be employed. In one embodiment, the distal end 454 is solid and has a hollow hose/wire-receiving passage 456 therethrough. The remaining portion of the tube segment 450 may be hollow to permit passage of hoses and/or wires therethrough.

In one embodiment, the distal tube segment 410 is pivotally coupled to the proximal tube segment 450 by a ball joint assembly 460. In one embodiment, the ball joint assembly 460 comprises a hollow ball member 462 that is mounted to or formed on the proximal end 414 of the distal tube segment 410. The ball member 462 is substantially hollow or has a hollow passageway therein to permit the passage of hoses and/or wires therethrough. The ball member 462 is received in a socket 458 provided in the distal end of the proximal tube segment 450, such that the ball member 462 is free to pivot therein.

In one embodiment, an actuation assembly, generally designated as 500 is employed to articulate the distal tube segment 410 relative to the proximal tube segment 450. As can be seen in FIGS. 11-14 , in one non-limiting embodiment, two articulation cylinders 510, 520 are employed. First articulation cylinder 510 may comprise a conventional hydraulic or pneumatic cylinder that has a first housing 512 that contains a first piston 514 therein. A first piston rod or first actuation rod 516 is attached to the first piston 514 and protrudes out of the first housing 512. Movement of the piston 514 within the first housing 512 in response to the admission of pressurized fluid or air on one side or the other side of the piston 514 causes the first actuation rod 516 to be extended out of the first cylinder housing 512 or into the first cylinder housing 512. A distal end 518 of the first housing 512 is pivotally (pinned) or otherwise rigidly attached to the proximal end 414 of the distal tube segment 410. The first actuation rod 516 is fabricated from a flexible material such as rubber or the like and the free end 519 thereof is rigidly affixed to the distal end 454 of the proximal tube segment 450. The free end 519 of the first actuation rod 516 may be attached to the distal end 454 by gluing, threads, etc. A first indentation 466 or a series of indentations are provided in the outer surface 464 of the ball member to provide the requisite clearance for the first actuation rod 516 and also the end of the first cylinder housing 512.

Also in this non-limiting embodiment, the second articulation cylinder 520 may comprise a conventional hydraulic or pneumatic cylinder that has a second housing 522 that contains a second piston 524 therein. A second piston rod or second actuation rod 526 is attached to the second piston 526 and protrudes out of the second housing 522. Movement of the second piston 524 within the second cylinder housing 522 in response to the admission of pressurized fluid or air on one side or the other side of the second piston 524 causes the actuation rod 526 to be extended out of the second cylinder housing 522 or into the second cylinder housing 522. The second cylinder housing 522 is pivotally (pinned) or otherwise rigidly attached to the proximal end 414 of the distal tube segment 410. The second actuation rod 526 is fabricated from a flexible material such as rubber or the like and the free end 529 thereof is rigidly affixed to the distal end 454 of the proximal tube segment 450. The free end 529 of the second actuation rod 526 may be attached to the distal end 454 by gluing, threads, etc. A second indentation 468 or a series of indentations are provided in the outer surface 464 of the ball member 462 to provide the requisite clearance for the second actuation rod 526 and also the end of the second cylinder housing 522.

The first and second articulation cylinders 510, 520 may be powered by the hydraulic system 210 or they may be powered by a separate hydraulic system. FIG. 11 depicts one method of controlling the first and second articulation cylinders 510, 520. As can be seen in that Figure, a supply line 570 is connected to the supply line 240 from the pump 230. A first portion 572 of the supply line 570 is attached to a first supply port in the first cylinder housing 512 for supplying pressurized fluid or air into the first cylinder housing 512 on one side of the first piston 514 and a second portion 574 of the supply line 570 is attached to a second supply port in the first housing 512 for supplying pressurized fluid or air into the first housing 512 on the other side of the first piston 514. A first supply valve 576 is mounted in the first portion 572 of the supply line 570 and a second supply valve 578 is mounted in the second portion 574 of the first supply line 570. An exhaust or return line 580 is provided to return the pressurized fluid from the first housing 512 to the fluid reservoir 232. The return line 580 has a first portion 582 and a second portion 584 attached to ports in the first housing 512. A first return valve 586 is mounted in the first portion 582 of the return line 580 and a second return valve 588 is mounted in the second portion 584 of the return line.

The supply line 570 further has a third portion 590 that is coupled to a third supply port in the second housing 522 on one side of the second piston 524 and the supply line 570 has a fourth portion 592 coupled to a fourth supply port in the second housing 522 on the other side of the second piston 524. A valve 596 is mounted in the third portion 590 and another valve 598 is mounted in fourth portion 592 of the supply line 570. Another return line 600 is provided to permit the pressurized fluid, air, etc. to return to the reservoir 232 from the housing 522 during actuation of the cylinder 520. The return line 600 has a third portion 602 attached to a third return port in the second housing 522 on one side of the second piston 524 and a fourth portion 604 of the return line 600 is coupled to a fourth return port in the second housing 522 on the other side of the second piston 524. A return valve 606 is provided in the third portion 602 of the return line 600 and another return valve 608 is provided in the portion 604 of the return line 600.

The valves may be controlled by the control circuit 300 or a second control circuit 300′ of the type described above that may include a microprocessor and other related components including Random Access Memory (RAM), Read Only Memory (ROM), etc. In other non-limiting embodiments, the control circuit 300′ may include various logical circuit elements. A conventional multiposition switch 610 or a series of switches, push buttons etc. may be connected to the second control circuit 300′ for controlling the valves 576, 578, 586, 588, 594, 596, 606, 608 to control the cylinders 510, 520 in the manners necessary to achieve the desired degree and direction of articulation.

When pivotally attached together as described above, the proximal and distal tube segments 410, 450 form a tube assembly 470 that has a passageway 472 or passageways for supporting the supply lines (collectively designated as 480) between the end effector 22 and the handle 200. It will be appreciated that the tube assembly 470 has a circumference “C” and shape such that when the distal tube 410 segment is coaxially aligned with the proximal tube segment 450, the tube assembly 470 may be inserted through the passageway 492 in a trocar 490. See FIG. 9 . In one embodiment, the first and second tube segments 410, 450 have a round cross-sectional shape and are sized to be axially inserted through a round trocar passageway 492. The outer diameters of each the distal tube segments 410, 450 are less than the inner diameter of the trocar passageway 492 to facilitate axial insertion of the tube assembly 470 through the trocar passage 492 and, if desired or necessary, rotation of the tube assembly 470 within the trocar passageway 492. For example, if the trocar passageway 492 has an inner diameter of approximately 12.8 mm (0.503 inches), the maximum outer diameter of tube assembly 470 (and of each of the tube segments 410, 450) may be approximately 12.7 mm (0.500 inches). It is conceivable that, for applications wherein the ability to rotate the tube assembly 470 within the trocar passageway 492 is not necessary or desirable, trocars with passageways having non-circular cross-sections could be employed. In those cases, the tube assembly would have a cross-sectional shape that would facilitate axial insertion of the tube assembly through the trocar passageway and may closely resemble the cross-sectional shape of the trocar passageway. Thus, the various embodiments of the subject invention should not be limited to devices having a tube assembly with a round cross-sectional shape.

FIG. 1 illustrates the joint assembly in a non-articulated position that would enable the tube assembly 470 to be inserted into the trocar. After the surgical implement 12 has been inserted through the trocar 490 and it becomes desirable to articulate the implement 12, the clinician activates the control circuit 300′ through switch 610. Depending upon the degree and direction of articulation desired, the first piston 516 and the second piston 526 may either both be extended, one extended and one retracted or both retracted to cause the ball member 462 to pivot in the socket to achieve the desired amount of articulation. The pistons 516 and 526 are extended by the clinician by activating multiposition switch or buttons located on the handle assembly to cause the control circuit 300′ to open and close the various control valves 576, 578, 586, 588, 594, 596, 606, 608. The reader will appreciate that the first and second actuation rods 516, 526 may, depending upon the forces, tend to bend rather than pivot during actuation and it is the deflection and buckling of these rods 516, 526 that further causes the distal tube segment 410 to articulate relative to the proximal tube segment 450. Moreover, if the articulation cylinders 510, 520 are not aligned 180 degrees about the longitudinal axis of the device, they can be used to articulate the end effector in multiple planes as well as merely pivoting it about a point perpendicular to the longitudinal axis. Such pivotal flexibility is made possible through use of the ball joint arrangement of this embodiment. Such arrangement represents a significant improvement over other arrangements that can only articulate about a single axis.

The hydraulic control system described above for actuating the articulation cylinders 510, 520 is but one example of a control system that may be used. The reader will appreciate that a variety of different control arrangements may be employed to activate the articulation cylinders without departing from the spirit and scope of the present invention. For example, the articulation cylinders 510, 520 as described above require the admission of pressurized fluid/air to move their respective pistons in both directions. Other cylinders that employ springs or other mechanisms for returning the pistons to a starting position may be employed along with appropriate valve and hydraulic fluid supply arrangement that are within the capabilities of the skilled artisan may be employed. It will be further appreciated that, while two articulation cylinders have been described above, other embodiments of the present invention may employ only one articulation cylinder or more than two articulation cylinders. Also, while the ball member 462 has been described as being non-movably mounted to the distal tube segment 410 with the socket 458 provided in the proximal tube segment 450, those of ordinary skill in the art will understand that the ball member 462 may be non-movably attached to the proximal tube segment 450 and the socket 458 provided in the distal tube segment 410 in other non-limiting embodiments without departing form the sprit and scope of the present invention.

FIG. 15 illustrates another articulation joint assembly 1400 embodiment of the present invention. As can be seen in that Figure, distal tube segment 1410 has a proximal end 1414 and a distal axis H′-H′. Although not shown in FIG. 15 , the distal tube segment 1410 has a distal end 1412 that is mechanically coupled to the end effector body 24. Depending upon the anvil closure arrangement employed, the distal end 1412 may be non-movably attached to the end effector body or by a cable, flexible member or pivotable member. The distal tube 1410 segment may be partially hollow with the proximal 1414 end being solid with a hose/wire receiving passage 1416 therethrough.

The joint assembly 1400 further includes a proximal tube segment 1450, that has a distal end 1454, and a proximal axis I′-I′. Although not shown in FIG. 15 , the proximal tube segment 1450 has a proximal end that is mechanically attached to the handle assembly 200.

In one embodiment, the distal tube segment 1410 is pivotally coupled to the proximal tube segment 1450 by a ball joint assembly 1460. In one embodiment, the ball joint assembly comprises a hollow ball member 1462 that is mounted to or is formed on the distal end 1454 of the proximal tube segment 1450. The ball member 1462 has a hollow passageway 1464 that has a flared or otherwise enlarged end portion 1465 to enable it to communicate with the passageway 1416 such that, regardless of the position of the ball member 1462, the hoses 480 and/or wires extending therethrough will not be pinched or otherwise damaged. The ball member 1462 is received in a socket 1458 provided in the proximal end 1414 of the distal tube segment 1410, such that the ball member 1462 is free to pivot or rotate therein.

In one embodiment, an actuation assembly, generally designated as 1500 is employed to articulate the distal tube segment 1410 relative to the proximal tube segment 1450. As can be seen in FIG. 15 , in one non-limiting embodiment, two articulation cylinders 1510, 1520 are employed. First articulation cylinder 1510 may comprise a conventional hydraulic or pneumatic cylinder that has a first housing 1512 that contains a first piston 1514 therein. A first piston rod or first actuation rod 1516 is attached to the first piston 1514 and protrudes out of the first housing 1512. Movement of the piston 1514 within the first housing 1512 in response to the admission of pressurized fluid or air on one side or the other side of the piston 1514 causes the first actuation rod 1516 to be extended out of the first cylinder housing 1512 or into the first cylinder housing 1512. A distal end 1518 of the first housing 1512 is pivotally (pinned) to a portion 1415 of the proximal end 1414 of the distal tube segment 1410. The outer surface of the proximal end 1414 in the area of the first cylinder housing 1512 may be contoured to facilitate pivotal movement of the cylinder housing 1512. The first actuation rod 1516 may be fabricated from a flexible material such as rubber or the like or it may be fabricated from rigid material. The free end 1519 of the actuation rod 516 is pivotally pinned to or otherwise attached to the distal end 1454 of the proximal tube segment 1450.

Also in this non-limiting embodiment, the second articulation cylinder 1520 may comprise a conventional hydraulic or pneumatic cylinder that has a second housing 1522 that contains a second piston 1524 therein. A second piston rod or second actuation rod 1526 is attached to the second piston 1524 and protrudes out of the second housing 1522. Movement of the second piston 1524 within the second cylinder housing 1522 in response to the admission of pressurized fluid or air on one side or the other side of the second piston 1524 causes the actuation rod 1526 to be extended out of the second cylinder housing 1522 or into the second cylinder housing 1522. The distal end 1523 of the second cylinder housing 1522 is pivotally (pinned) to a portion 1417 of the proximal end 1414 of the distal tube segment 1410. The outer surface of the proximal end 1414 in the area of the second cylinder housing 1522 may be contoured to facilitate pivotal movement of the cylinder housing 1522. The second actuation rod 1526 may be fabricated from a flexible material such as rubber or the like or it may be fabricated from rigid material. The free end 1529 of the actuation rod 1526 is pivotally pinned to or otherwise attached to the distal end 1454 of the proximal tube segment 1450.

The first and second articulation cylinders 1510, 1520 may be powered by the hydraulic system 210 in the same manner as was discussed in detail above with respect to cylinders 510, 520 or they may be powered by a separate hydraulic system. FIG. 11 depicts one method of controlling the first and second articulation cylinders 1510, 1520. The distal tube segment 1410 (and the end effector 22 attached thereto) may be articulated relative to the proximal tube 1450 in the direction shown in FIG. 15 by extending the actuation rod 1526 and retracting the actuation rod 1516. Likewise, the distal tube segment 1410 may be pivoted to a direction opposite to the direction shown in FIG. 15 by extending the actuation rod 1516 and retracting the actuation rod 1526. The control circuit 300′ may actuate the cylinders 1510, 1520 in these manners in response to the position of the multiposition control switch 610 on the handle assembly 200. The reader will also appreciate that, while two articulation cylinders have been described above, other embodiments of the present invention may employ only one articulation cylinder if only one degree articulation is needed or desired. Also, while the ball member 1462 has been described as being non-movably mounted to the proximal tube 1450 with the socket 1458 provided in the distal tube segment 1410, those of ordinary skill in the art will understand that the ball member 1462 may be non-movably attached to the distal tube segment 1410 and the socket 1458 provided in the proximal tube segment 1450 in other non-limiting embodiments without departing from the spirit and scope of the present invention.

In an alternative embodiment depicted in FIG. 15A, the joint assembly 1460′ comprises a round disc-like member 1462′ instead of a ball shaped member. The disc 1462′ has a hollow passageway 1464′ that has a flared or otherwise enlarged end portion 1465′ to enable it to communicate with the passageway 1416 such that, regardless of the position of the disc-like member 1462′, the hoses 480 and/or wires extending therethrough will not be pinched or otherwise damaged. The disc-like member 1462′ is received in a socket 1458′ provided in the proximal end 1414 of the distal tube segment 1410, such that the disc-like member 1462′ is free to pivot therein. If desired, the outer edge of the disc-like member 1462′ could be provided with a tongue (not shown) that is received in a groove (not shown) in the socket wall to further stabilize the disc-like member 1462′. This embodiment otherwise employs actuators 1510 and 1520 as described above. Again, however, the reader will appreciate that, while two articulation cylinders have been described above, other embodiments of the present invention may employ only one articulation cylinder if only one degree articulation is needed or desired. Also, while the disc-like member 1462′ has been described as being non-movably mounted to the proximal tube segment 1450 with the socket 1458′ provided in the distal tube segment 1410, those of ordinary skill in the art will understand that the disc-like member 1462′ may be non-movably attached to the distal tube segment 1410 and the socket 1458′ provided in the proximal tube segment 1450 in other non-limiting embodiments without departing from the spirit and scope of the present invention.

Another alternative embodiment is depicted in FIG. 16 . As can be seen in this embodiment, the end 1519 of the first actuation rod 1516 of cylinder 1510 is attached to portion of the outer surface of the ball member 1462 and the end 1529 of the second actuation rod 1516 is also attached to a portion of the ball member 1462. This embodiment is otherwise identical in composition and operation as the embodiment depicted in FIG. 15 and described above. Again, however, the reader will appreciate that, while two articulation cylinders have been described above, other embodiments of the present invention may employ only one articulation cylinder if only one degree articulation is needed or desired. Also, while the ball member 1462 has been described as being non-movably mounted to the proximal tube segment 1450 with the socket 1458 provided in the distal tube segment 1410, those of ordinary skill in the art will understand that the ball member 1462 may be non-movably attached to the distal tube segment 1410 and the socket 1458 provided in the proximal tube segment 1450 in other non-limiting embodiments without departing from the sprit and scope of the present invention.

Another alternative embodiment is depicted in FIG. 16A. As can be seen in this embodiment, the end 1519 of the first actuation rod 1516 of cylinder 1510 is attached to portion of the outer surface of the disc-like member 1462′ and the end 1529 of the second actuation rod 1516 is also attached to a portion of the disc-like member 1462′. This embodiment is otherwise identical in composition and operation as the embodiment depicted in FIG. 16A and described above. Again, however, the reader will appreciate that, while two articulation cylinders have been described above, other embodiments of the present invention may employ only one articulation cylinder if only one degree articulation is needed or desired. Also, while the disc-like member 1462′ has been described as being non-movably mounted to the proximal tube segment 1450 with the socket 1458′ provided in the distal tube segment 1410, those of ordinary skill in the art will understand that the disc-like member 1462′ may be non-movably attached to the distal tube segment 1410 and the socket 1458′ provided in the proximal tube segment 1450 in other non-limiting embodiments without departing from the spirit and scope of the present invention.

FIG. 17 illustrates yet another articulation joint assembly 2400 embodiment of the present invention. As can be seen in that Figure, distal tube segment 2410 has a proximal end 2414 and a distal axis H″-H″. Although not shown in FIG. 17 , the distal tube segment 2410 has a distal end that is mechanically coupled to the end effector body 24. Depending upon the anvil closure arrangement employed, the distal end may be non-movably attached to the end effector body or by a cable, flexible member or pivotable member. The distal tube 2410 segment may be partially hollow with the proximal end 2414 being solid with a hose/wire receiving passage 2416 therethrough. The passage 2416 may have a conical shaped portion 2417.

The joint assembly 2400 further includes a proximal tube segment 2450, that has a distal end 2454, and a proximal axis I″-I″. Although not shown in FIG. 18 , the proximal tube segment 2450 has a proximal end 2454 that is attached to the handle assembly 200.

In one embodiment, the distal tube segment 2410 is pivotally coupled to the proximal tube segment 2450 by a ball joint assembly 2460. In one embodiment, the ball joint assembly 2460 comprises a ball member 2462 that is mounted to or is formed on the distal end 2454 of the proximal tube segment 2450. The ball member 2462 has a hollow passageway 2464 that has a flared or otherwise enlarged end portion 2465 to enable it to communicate with the passageway portions 2416, 2417 such that, regardless of the position of the ball member 2462, the hoses 480 and/or wires extending therethrough will not be pinched or otherwise damaged. The ball member 2462 is received in a socket 2458 provided in the proximal end 2414 of the distal tube segment 2410, such that the ball member 2462 is free to rotate therein.

In one embodiment, an actuation assembly, generally designated as 2500 is employed to articulate the distal tube segment 2410 relative to the proximal tube segment 2450. As can be seen in FIG. 17 , in one non-limiting embodiment, two flexible worm gear cables 2510, 2520 are employed. The first flexible worm gear cable 2510 is adapted to drivingly engage worm gear teeth, threads, etc. (not shown) within a first gear passage 2465 formed in the ball member 2462. The first flexible worm gear cable 2510 is coupled to a first motor 2512 that is mounted within the distal tube segment 2410. Similarly, in this non-limiting embodiment, a second flexible worm gear cable 2520 is adapted to drivingly engage gear teeth, threads, etc. within a second gear passage 2467 formed in the ball member 2462 that has worm gear teeth, threads, etc. 2469 formed therein. The second flexible worm gear cable 2520 is coupled to a second motor 2522 mounted in the distal tube segment 2410. While described herein as “flexible worm gear cables”, it will be understood that this term is meant to encompass all types of flexible driven cable or driver arrangements that do not necessarily employ worm gear-type teeth thereon.

The first and second motors 2512, 2522 may be electrically powered (by battery 234 or another battery) or be powered by alternating current or be powered by hydraulic fluid or air. In one embodiment, the motors 2512, 2522 are electric powered and are operated by one or more switches or buttons (not shown) on handle assembly 200. By controlling the amount of rotation and the direction of rotation of the first and second worm gear cables 2510, 2520, the ball member 2462 is cause to rotate within the socket 2458 and thereby articulate the distal tube segment 2410 (and the end effector 22 attached thereto) relative to the proximal tube segment 2450. The reader will appreciate that such arrangement facilitates left articulation as shown in FIG. 17 and right articulation (not shown). Again, however, the reader will appreciate that, while two flexible worm gear cable/motor arrangements have been described above, other embodiments of the present invention may employ only one flexible worm gear cable arrangement if only one degree articulation is needed or desired. Also, while the ball member 2462 has been described as being non-movably mounted to the proximal tube segment 2450 with the socket 2458 provided in the distal tube segment 2410, those of ordinary skill in the art will understand that the ball member 2462 may be non-movably attached to the distal tube segment 2410 and the socket 2458 provided in the proximal tube segment 2450 in other non-limiting embodiments without departing from the spirit and scope of the present invention.

In an alternative embodiment depicted in FIG. 17A, the joint assembly 2460′ comprises a round disc-like member 2462′ instead of a ball shaped member. The disc-like member 2462′ has a hollow passageway 2464′ that has a flared or otherwise enlarged end portion 2465′ to enable it to communicate with the passageway 2416 such that, regardless of the position of the disc-like member 2462′, the hoses 480 and/or wires extending therethrough will not be pinched or otherwise damaged. The disc-like member 2462′ is received in a socket 2458′ provided in the proximal end 2414 of the distal tube segment 2410, such that the disc-like member 2462′ is free to rotate therein. If desired, the outer edge of the disc-like member 2462′ could be provided with a tongue (not shown) that is received in a groove (not shown) in the socket wall to further stabilize the disc-like member 1462′. This embodiment otherwise employs the motor driven flexible worm gear cables 2510 and 2520 as described above. Again, however, the reader will appreciate that, while two flexible worm gear cable/motor arrangements have been described above, other embodiments of the present invention may employ only one flexible worm gear cable arrangement if only one degree articulation is needed or desired. Also, while the disc-like member 2462′ has been described as being non-movably mounted to the proximal tube segment 2450 with the socket 2458′ provided in the distal tube segment 2410, those of ordinary skill in the art will understand that the disc-like member 2462′ may be non-movably attached to the distal tube segment 2410 and the socket 2458′ provided in the proximal tube segment 2450 in other non-limiting embodiments without departing from the spirit and scope of the present invention.

The terms “proximal” and “distal” are used herein with reference to a clinician gripping a handle of an instrument. For example, referring to the surgical instrument 3010 shown in FIG. 18 , the end effector 3012 is distal with respect to the more proximal handle portion 3020. It will be further appreciated that for convenience and clarity, spatial terms such as “vertical” and “horizontal” are used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and absolute.

The surgical instrument 3010 of FIG. 18 includes a handle portion 3020 and an implement portion 3022. The implement portion 3022 includes a shaft 3023 and an end effector 3012. The end effector 3012 shown in FIG. 18 is configured to act as an endocutter including surgical implements for clamping, stapling and severing, however, it will be appreciated that the advantages of the present invention may be achieved with end effectors (not shown) including alternate and/or additional surgical implements.

Referring back to the non-limiting embodiment shown in FIG. 18 , the handle portion 3020 of the instrument 3010 includes a pistol grip 3024 toward which a closure trigger 3026 is pivotally drawn by a clinician to cause clamping, or closing, of the anvil 3018 toward the elongate channel 3016 of the end effector 3012. A firing trigger 3028 is farther outboard of the closure trigger 3026 and is pivotally drawn by the clinician to cause the stapling and severing of clamped tissue in the end effector 3012.

The force necessary to cause the closure, stapling, and severing of tissue may be provided by a plurality of hydraulic devices (not shown in FIG. 18 ) located in the end effector 3012 such as, for example, bladders, cylinders, etc. In various embodiments, the hydraulic devices may be supplied with pressurized hydraulic fluid via hydraulic line bundle 3306 extending from handle 3020 of the instrument 3010 to the end effector 3012, for example, through the elongate shaft 3023.

FIGS. 19-22 show views of the end effector 3012 configured to perform clamping, severing and stapling of tissue according to various embodiments the present invention. The end effector 3012 may include anvil 3018 and elongate channel 3016 configured to receive a staple cartridge 3037. The anvil 3018 may pivot towards the elongate channel 3016 and staple cartridge 3037 about anvil pivot 3014. FIG. 19 shows the anvil 3018 in an open position, while FIG. 20 shows the anvil 3018 in a pivoted or closed position.

Force necessary to pivot or drive the anvil 3018, in various embodiments, may be provided by closure sleeve 3032. For example, when the clinician actuates closure trigger 3026, the closure sleeve 3032 may be translated distally toward the end effector driving the anvil 3018 into the closed position shown in FIG. 20 . When the closure trigger 3026 is released, the closure sleeve 3032 may be translated proximally away from the end effector 3012. The instrument 3010 may include a spring or other energy storage device causing the anvil 3018 to return to the open position shown in FIG. 19 when the closure sleeve 3032 is retracted. Force may be transferred from the closure trigger 3026 to the closure sleeve 3032 by any mechanism known in the art including, for example, a gear system, an electric motor, a hydraulic device, etc.

Referring back to FIG. 19 , the end effector 3012 may include a transversely presented cutting edge 3326. The cutting edge 3326 may be driven by a hydraulic cutting bladder 3322 positioned below the cutting edge 3326. A cutting bar 3324 may be positioned between the cutting bladder 3322 and cutting edge 3326. In various embodiments, the cutting bladder 3322, bar 3324 and edge 3326 may be fastened to one another. It will be appreciated that the hydraulic cutting bladder 3322, in various non-limiting embodiments, may be replaced by any kind of hydraulic device including, for example, a hydraulic cylinder. In response to a clinician actuating the firing trigger 3028, the hydraulic cutting bladder 3322 may expand in a transverse direction. This drives the cutting edge 3326, causing it to move through the elongate channel 3016 and staple cartridge 3037 in a transverse direction and sever any tissue (not shown) present between the anvil 3018, staple cartridge 3037 and elongate channel 3016, for example, as described in more detail below with reference to FIGS. 37-43 .

Referring again to FIG. 20 a cross sectional view of the end effector 3012 is shown including staples 3222 and staple drivers 3220 according to various embodiments. A plurality of staples 3222 and staple drivers 3220 are shown positioned adjacent the cutting edge 3326. Each staple driver 3220 may be positioned below one, or a plurality of staples 3222 included in the staple cartridge 3037. A staple hydraulic bladder 3327 may be positioned below the staple drivers 3220. The staple hydraulic bladder 3327 may be expandable in a transverse direction toward staple drivers 3220. The staple hydraulic bladder 3327 may expand in response to the actuation of the firing trigger 3028 by the clinician. Expansion of the staple hydraulic bladder 3327 forces the staple drivers 3220 and staples 3222 toward staple forming pockets (not shown in FIG. 20 ) present in the anvil 3018, thus driving the staples.

FIG. 21 shows a three dimensional view of the end effector 3012 of the instrument 3010 with a portion of the staple cartridge 3037 removed to expose features of the elongate channel 3016, such as recesses 3212, 3214, and components of the staple cartridge 3037, such as staple drivers 3220, in their unfired position. The cutting edge 3326 is shown at its unfired position, located in the center of staple drivers 3220. FIG. 21 also shows tissue stops 3244 located at the proximal end of the anvil 3018. Tissue stops 3244 may, in various embodiments, prevent tissue from coming into contact with components of the anvil pivot 3014, causing the end effector 3012 to jam.

FIG. 22 depicts a three dimensional view of the end effector 3012 in an open position with a staple cartridge 3037 installed in the elongate channel 3016. On a lower surface 3200 of the anvil 3018, a plurality of stapling forming pockets 3202 are arrayed to correspond to a plurality of staple apertures 3204 in an upper surface 3206 of the staple cartridge 3037. Each aperture 3204 may correspond to an individual staple 3222 located within the staple cartridge 3037 immediately below the aperture 3204 as shown in FIG. 20 . Slot 3049, positioned in the middle of the staple cartridge 3037, may enclose the cutting edge 3326 (not shown in FIG. 22 ). The staple cartridge 3037 may be snap-fit into the elongate channel 3016. For example, extension features 3208, 3210 of the staple cartridge 3037 engage recesses 3212, 3214 (shown in FIG. 21 ) of the elongate channel 3016.

In various embodiments, staples 3222 included in the end effector 3012 may be driven according to one or more staple zones, with each staple zone able to be fired or driven separately. FIGS. 23-25 show a non-limiting zoned embodiment including six staple zones, with each staple zone including one hydraulic device and one staple driver configured to drive a plurality of staples. For example, a right distal staple zone includes right distal staple bladder 3332 (shown in FIG. 23 ), and right distal staple driver 3370 (shown in FIG. 24 ). It will be appreciated that various non-limiting embodiments of the present invention may include more or fewer than six staple zones depending on the application, with each zone including as many or as few staples as desired. It will also be appreciated that that individual staple zones according to various embodiments of the present invention may include multiple staple bladders and/or staple drivers.

Referring back to FIG. 23 , a top down view of the elongate channel 3016 is shown including six hydraulic staple bladders 3328, 3330, 3332, 3334, 3336 and 3338. Each of the bladders may correspond to one of the six zones of staples. The bladders 3328, 3330, 3332, 3334, 3336, 3338 as well as cutting bladder 3322 (positioned below cutting bar 3324 in FIG. 27 ) may be individually provided with pressurized hydraulic fluid through respective hydraulic lines 3340, 3342, 3344, 3346, 3348, 3350, 3352 included in hydraulic line bundle 3306. Accordingly, in various embodiments, each of bladders 3328, 3330, 3334, 3336, 3338 and 3322 may drive associated surgical implements individually or according to a firing pattern.

FIG. 24 shows a top down view of the elongate channel 3016 and staple cartridge 3037 with the upper surface 3206 of the staple cartridge 3037 removed to show staple drivers 3370, 3372, 3374, 3376, 3378, 3380. Each staple driver may correspond to one of the six staple zones. Also, each staple driver 3370, 3372, 3374, 3376, 3378, 3380 is positioned above the staple bladder 3328, 3330, 3332, 3334, 3336, 3338 (shown in FIG. 27 ) corresponding to the same staple zone. For example, right distal staple bladder 3332 is positioned above the right distal staple driver 3370. It will be appreciated that it is not necessary to have only one staple driver corresponding to each staple bladder 3328, 3330, 3332, 3334, 3336, 3338. For example, in one non-limiting embodiment, a staple driver 3220 may be provided for each individual staple 3222.

FIG. 25 shows an exploded three dimensional view of the elongate channel 3016 with staple cartridge 3037 implementing the staple zone scheme shown in FIGS. 23 and 24 . The staple cartridge 3037 may include staple recesses 3354, 3356, 3358, 3360, 3362, 3364. Each staple recess may house staples 3222 (not shown in FIG. 25 ) and one of staple drivers 3370, 3372, 3374, 3376, 3378 (not shown in FIG. 25 ). When the staple cartridge 3037 is installed in the elongate channel 3016, each staple recess, including staples 3222 and the staple drivers described above, may align with at least one staple bladder 3328, 3330, 3332, 3334, 3336, 3338. When the staple bladders 3328, 3330, 3332, 3334, 3336, 3338 are inflated, they may extend into the staple recesses 3354, 3356, 3358, 3360, 3362, 3364, creating a transverse force against the staple drivers 3370, 3372, 3374, 3376, 3378, which in turn drive the staples 3222. FIG. 25 also shows that the staple cartridge 3037 may include channels 3366 for receiving hydraulic lines 3340, 3342, 3344, 3346, 3348, 3350, 3352, shown in FIG. 27 . The channels 3366 prevent the various hydraulic lines from being pinched between the staple cartridge 3037 and the elongate channel 3016.

FIG. 26 shows a cross-sectional view of the end effector 3012 showing the configuration of bladders 3328, 3334, 3322, 3338 and 3334 according to various embodiments. Bladder 3328 is shown positioned below staple driver 3370. Inflating bladder 3328 causes a transverse force to be exerted on the driver 3370, which may drive the staple 3222. The other staple bladders 3334, 3338 and 3334 shown in FIG. 26 may operate in a similar fashion. Cutting bladder 3322 may also create a transverse force when inflated. The transverse force may cause cutting bar 3324 to rise transversely, pushing cutting edge 3326 transversely through any tissue (not shown) present in the end effector 3012.

FIG. 27 shows the implement portion 3022 of the surgical stapling and severing instrument 3010 in disassembled form. The staple cartridge 3037 is shown comprised of a cartridge body 3216, staple drivers 3370, 3372, 3374, 3376, 3378, 3380, cutting edge 3326 and staples 3222. When assembled, the cartridge body 3216 holds the staple drivers 3370, 3372, 3374, 3376, 3378, 3380 and staples 3222. When the implement portion 3022 is assembled, cutting bladder 3322, cutting bar 3324 and cutting edge 3326 may be positioned along the elongate channel 3016 as shown. Staple bladders 3328, 3330, 3332, 3334, 3336, 3338 may also be positioned along the elongate channel 3016 and may be used to drive staples 3222, for example, according to the zoned scheme described above. The staple cartridge 3037 may be placed in the elongate channel 3016 such that the cutting bladder 3322, cutting bar 3324 and cutting edge 3326 align with channel 3049 and such that lines of staples 3222 and drivers 3370, 3372, 3374, 3376, 3378, 3380 align with bladders 3328, 3330, 3332, 3334, 3336, 3338.

The embodiments described above show staples 3222 resting on a staple bladder 3327, or staple bladders 3328, 3330, 3332, 3334, 3336, 3338, with various staple drivers 3220 therebetween. It will be appreciated, however, that in various non-limiting embodiments, staples may be hydraulically driven utilizing other mechanisms. For example, FIGS. 28-29 show a staple 3222 resting directly on a staple bladder 3504 (e.g., without a staple driver). A hydraulic line 3506 may provide pressurized hydraulic fluid to the bladder 3504, for example, in response to the actuation of the firing trigger 3028 by the clinician. When pressurized hydraulic fluid is provided to the staple bladder it may expand transversely, as shown in FIG. 29 . The transverse motion of the staple bladder 3504 may force the staple 3222 against staple forming pocket 3202, thereby driving the staple 3222. The assembly shown in FIGS. 28-29 may be incorporated into the end effector 3012, for example, by placing a staple bladder or bladders 3504 along the elongate channel 3016. It will be appreciated that in various embodiments, each bladder 3504 may drive one or a plurality of staples 3222.

FIG. 30 shows another non-limiting embodiment showing an additional mechanism including a staple driving cylinder 3510. The cylinder 3510 may include a piston 3512. The staple 3222 may rest on the piston 3512. A staple driver (not shown in FIG. 30 ) may or may not be present between the piston 3512 and the staple 3222. A hydraulic line 3514 may provide pressurized hydraulic fluid, causing the piston 3512 to extend. In response, the piston 3512 may drive staple 3222 into contact with staple pocket 3202 as described above. In various embodiments, the cylinder 3510 may drive one or a plurality of staples 3222. It will be appreciated that the assembly shown in FIG. 30 may be incorporated into end effector 3012 by placing one or more cylinders 3510 along the elongate channel 3016.

FIG. 31 shows an exploded view of another non-limiting exemplary embodiment for hydraulically driving staples according to various embodiments of the present invention. Staples 3222 are shown resting on staple driver 3517 which in turn rests on deployment plate 3516. Guidance rails 3518 are shown surrounding the deployment plate 3516. When provided with pressurized hydraulic fluid, bladder 3522 may expand transversely. This may cause the deployment plate 3516 to expand transversely along guidance rails 3518, driving staples 3222. The guidance rails 3518 may insure that deployment plate 3516 expands in a transverse direction. In one non-limiting embodiment, staples 3222 may rest directly on the deployment plate 3516 (e.g., without drivers 3517). It will be appreciated that the assembly shown in FIG. 31 may be incorporated into the end effector 3012 by placing one or more bladders 3522, guidance rails 3518, and deployment plates 3516 along the elongate channel 36.

FIGS. 32-34 show yet another non-limiting exemplary embodiment for hydraulically driving staples according to various embodiments. FIG. 32 shows a hydraulic bladder 3524 mated to a rigid deployment plate 3526. The deployment plate 3526 may include a series of apertures 3528. Each aperture may correspond to one or more staples. When pressurized hydraulic fluid is applied to the bladder 3524, it may expand transversely through the apertures 3528 in the deployment plate 3526. The portions of the bladder 3524 extending through apertures 3528 may provide a transverse driving force to one or more staples 3222, as shown in FIG. 34 .

In various embodiments, the instrument 3010 may include an articulating end effector 3012 as shown in FIG. 35 . The end effector 3012 may pivot away from the axis of the elongate shaft 3023 at articulation pivot 3368. It can be seen that the hydraulic line bundle 3306 passes through articulation pivot 3368 with ease.

FIG. 36 shows an embodiment of the instrument 3010 equipped with a hydraulic system 3321 according to various embodiments. A hydraulic pump 3302 may generate pressurized hydraulic fluid when firing trigger 3028 and/or the closure trigger 3026 is actuated. The hydraulic pump 3302 may be any kind of device suitable for pressurizing hydraulic fluid including, for example, a cylinder, a bladder, etc. In various embodiments, an additional pump (not shown) may be included, for example, to drive the anvil 3018 in response to actuation of the closure trigger 3026. Pressurized hydraulic fluid generated by the hydraulic pump 3302 may be provided to valve unit 3304 which may in turn provide the fluid to various bladders and/or cylinders (not shown in FIG. 36 ) located in the end effector 3012 via hydraulic line bundle 3306. Valve unit 3304 may include any kind of valve or valves suitable for controlling and directing the flow of hydraulic fluid. In various non-limiting embodiments, the valve unit may include electrically actuated valves, such as, for example, piezo valves or Electro Active Polymer (EAP) valves which may be configured in response to an electrical signal.

One embodiment of the hydraulic system 3321 that may be employed to control the end effector 3012 is depicted in schematic form in FIG. 36A. In this non-limiting embodiment, the pump 3302 is embodied as a conventional hydraulic pump assembly that includes a fluid reservoir 3432. In one embodiment, the pump 3302 is powered by a battery 3434 supported within the handle. In another non-limiting embodiment, the pump 3302 may be powered by the same battery 3320 powering the control circuit 3318 described below. It will be appreciated that the pump 3302 could also be powered by other means, such as by alternating current. In one non-limiting embodiment, the pump 3302 may be a hydraulic bladder or cylinder powered by mechanical force derived from one or more of the triggers 3026, 3028. The pump 3302 may be fluidically coupled to the reservoir 3432 by supply line 3436 that may have a conventional check valve 438 therein. See FIG. 36A.

In one embodiment, a discharge line 3440 attached to the discharge port 3431 of the pump 3302 is piped to a manifold 3442 that has designated supply lines for each bladder coupled thereto. For example, in the embodiment depicted in FIG. 36A, a supply line 3444 is coupled to bladder 3328 and has a control valve 3460 therein for controlling the flow of pressurized fluid through the line 3444 to bladder 3328. Supply line 3446 is coupled to bladder 3330 and has a control valve 3462 therein. Supply line 3448 is coupled to bladder 3332 and has a control valve 3464 therein. Supply line 3450 is coupled to bladder 3334 and has a control valve 3466 therein. Supply line 3452 is coupled to bladder 3336 and has a control valve 3468 therein. Supply line 3454 is coupled to bladder 3338 and has a control valve 3470 therein. Supply line 3456 is coupled to cutting bladder 3322 and has control valve 3472 therein. A return valve 3478 is provided to permit the fluid to return from the bladders into the manifold line 3442 and through a return line 3459 that is attached to the manifold 3442 and the reservoir 3432. As can be seen in FIG. 36A, the return line 3459 may have a return valve 3478 therein. Valves 3460, 3462, 3464, 3466, 3468, 3470, 3472, 3474, 3478 comprise a valve unit, generally designated as 3304 and described above.

The valve unit1 304 may be configured by a control circuit 3318 in response to input received from input buttons, such as buttons 3308, 3310, 3312, 3314, and/or 3316. A battery 3320 may provide electrical power to the control circuit 3318 and buttons 3308, 3310, 3312, 3314, 3316. The control circuit 3318 may be any kind of circuit capable of generating signals for configuring valve unit 3304 in response to input from buttons 3308, 3310, 3312, 3314, 3316. In one non-limiting embodiment, the control circuit 3318 may include a microprocessor and other related components including Random Access Memory (RAM), Read Only Memory (ROM), etc. In other non-limiting embodiments, the control circuit 3318 may include various logical circuit elements.

The control circuit 3318 may configure the valves in response to input buttons 3308, 3310, 3312, 3314, 3316. In one non-limiting embodiment, each input button 3308, 3310, 3312, 3314, 3316 may correspond to a particular surgical implement, or portion of a surgical implement, included in the end effector 3012. For example, button 3308 may correspond to a cutter while buttons 3310, 3312, 3314, 3316 may each correspond to a zone of staples (not shown in FIG. 19 ). Selecting the button 3308, 3310, 3312, 3314, 3316 corresponding to a surgical implement may cause the control circuit 3318 to configure the valve unit 3304 such that a hydraulic device corresponding to the function is fired when firing trigger 3028 is depressed, driving the corresponding surgical implements. Multiple buttons may be selected to create firing patterns including more than one implement. In other non-limiting embodiments, each input button 3308, 3310, 3312, 3314, 3316 may represent a pre-determined firing order and/or pattern. For example, selecting a button 3308, 3310, 3312, 3314, 3316 may cause the control circuit 3318 to configure the valve unit 3304 such that hydraulic devices corresponding to particular surgical implements are fired when the firing trigger 3028 is depressed. It will be appreciated that various embodiments may have more or fewer input buttons than are shown.

In various non-limiting embodiments, control circuit 3318 may configure the valve unit 3304 to introduce a delay to the driving of one or more surgical implements included in the end effector 3012. For example, it may be desirable to drive a cutting implement and then delay for a predetermined time before driving one or more zones of a stapling implement. The delay may be accomplished according to any suitable method. In one non-limiting embodiment, the control circuit 3318 may configure the valve unit 3304 to open a path for hydraulic fluid between the hydraulic pump 3302 and a first surgical implement included in the end effector 3012. When the firing trigger 3028 is actuated, the pump 3302 may generate pressurized hydraulic fluid, which drives the first surgical implement. The control circuit 3318 may sense when the first surgical implement is driven (e.g., by sensing the position of the firing trigger 3028), for example using sensor 3405 shown in FIG. 36A. When the first surgical implement is driven, the control circuit 3318 may begin a timer that counts off a predetermined delay time. At the expiration of the predetermined delay time, the control circuit 3318 may configure the valve unit 304 to provide the pressurized hydraulic fluid to a second surgical implement. Hydraulic pressure generated at the actuation of the firing trigger 3028 may be sufficient to drive the second surgical implement, or in various embodiments, the hydraulic pump 3302 may be utilized to generate additional hydraulic pressure.

In use, the surgical stapling and severing instrument 3010 is used as depicted in FIGS. 18, 19, and 37-43 . In FIGS. 18-19 , the instrument 3010 is in its start position, having had an undriven, fully loaded staple cartridge 3037 snap-fitted into the distal end of the elongate channel 3016. Both triggers 3026, 3028 are forward and the end effector 3012 is open, such as would be typical after inserting the end effector 3012 through a trocar or other opening into a body cavity. The instrument 3010 is then manipulated by the clinician such that tissue 3248 to be stapled and severed is positioned between the staple cartridge 3037 and the anvil 3018, as depicted in FIG. 37 .

With reference to FIGS. 38-39 , next, the clinician moves the closure trigger 3026 proximally until positioned directly adjacent to the pistol grip 3024, locking the handle portion 3020 into the closed and clamped position. The retracted cutting edge 3326 in the end effector 3012 does not impede the selective opening and closing of the end effector 3012, but rather resides along the elongate channel 3016, positioned in the slot 3049 of the staple cartridge 3037. In response to the actuation of the closure trigger 3026, the anvil 3018 may be driven to pivot along anvil pivot 3014.

With reference to FIGS. 40-41 , after tissue clamping has occurred, the clinician moves the firing trigger 3028 proximally causing hydraulic fluid to be pressurized, for example, by hydraulic pump 3302. When the instrument is configured to cut, the hydraulic pressure may cause cutting bladder 3322 to inflate, forcing cutting bar 3324 through slot 3049 and into contact with cutting edge 3326, which may sever the tissue 3248. When the instrument is configured to staple, the hydraulic pressure may cause one or more of the staple bladders 3328, 3330, 3332, 3334, 3336, 3338 (not shown in FIG. 41 ) to inflate, exerting a vertical force on drivers 3220 which in turn drive staples 3222. With reference to FIGS. 42-43 , the clinician continues moving the firing trigger 3028 until brought proximal to the closure trigger 3026 and pistol grip 3024. Thereby, all of the ends of the staples 3222 are bent over as a result of their engagement with the anvil 3018. The process is completed by releasing the firing trigger 3028 and by then depressing the release button 3030 while simultaneously squeezing the closure trigger 3026 to open the end effector 3012.

Although an illustrative handle portion 3020 described herein is operated hydraulically in response to input from a clinician, it is consistent with aspects of the invention for some or all of the functions of a handle portion to be powered by other means (e.g., pneumatic, electromechanical, ultrasonic, mechanical, etc.). Furthermore, controls of each of these functions may be manually presented on a handle portion or be remotely controlled (e.g., wireless remote, automated remote console, etc.).

The various non-limiting embodiments of the present invention provide a host of advantages over prior art articulated surgical instruments. In particular, the various embodiments of the subject invention enable the portions of the tube member that attach a surgical implement to a handle to be inserted through a trocar or similar device and then be selectively articulated within the patient. While the various embodiments have been described herein in connection with use with a hydraulically operated endocutter, those of ordinary skill in the art would appreciate that the various embodiments of the subject invention could be employed with electrically powered endocutters and with a host of other types of surgical implements, regardless of whether they are electrically or hydraulically powered.

While the present invention has been illustrated by description of several embodiments and while the illustrative embodiments have been described in considerable detail, it is not the intention of the applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications may readily appear to those skilled in the art. Accordingly, the present invention has been discussed in terms of endoscopic procedures and apparatus. However, use herein of terms such as “endoscopic” should not be construed to limit the present invention to a surgical stapling and severing instrument for use only in conjunction with an endoscopic tube (i.e., trocar). On the contrary, it is believed that the present invention may find use in any procedure where access is limited to a small incision, including but not limited to laparoscopic procedures, as well as open procedures. Moreover, the various embodiment of the present invention should not be limited solely to use in connection with surgical instruments that have hydraulically powered or air powered surgical implements. The various embodiments of the present invention may also be effectively used with surgical instruments and the like that employ electrically driven surgical implements. 

What is claimed is:
 1. A surgical instrument, comprising: a housing assembly; a proximal tube segment protruding distally out of said housing assembly; a distal tube segment; an articulating joint assembly pivotally coupling said distal tube segment to said proximal tube segment, said articulating joint assembly comprising: a ball member non-movably coupled to a distal end of one of said proximal and distal tube segments and rotatably received in a corresponding socket in an end of the other of said of proximal tube segment and distal tube segments; and at least one rotary driven flexible cable arranged to drivingly engage a corresponding portion of the ball member or socket for retaining a portion of said ball member in said socket and upon rotation thereof, articulate said distal tube segment relative to said proximal tube segment; and a surgical implement attached to said distal tube segment.
 2. The surgical instrument of claim 1, wherein said at least one rotary driven flexible cable is a first rotary driven cable arranged to drivingly engage a corresponding first portion of the ball member to apply an actuation motion thereto.
 3. The surgical instrument of claim 2, wherein said articulating joint assembly comprises a second rotary driven cable arranged to drivingly engage a corresponding second portion of the ball member to apply another actuation motion thereto.
 4. The surgical instrument of claim 3, wherein said first rotary driven cable is rotated by a first motor and said second rotary driven cable is rotated by a second motor.
 5. The surgical instrument of claim 1, wherein said ball member is non-movably coupled to said end of said distal tube segment and is rotatably received in a socket in said end of said proximal tube segment.
 6. The surgical instrument of claim 1, wherein said surgical implement comprises an end effector.
 7. A surgical instrument, comprising: a housing assembly; a proximal shaft segment protruding distally out of said housing assembly; a distal shaft segment; an articulating joint assembly pivotally coupling said distal shaft segment to said proximal shaft segment, said articulating joint assembly comprising: a ball member non-movably coupled to a distal end of one of said proximal and distal shaft segments and rotatably received in a corresponding socket in an end of the other of said of proximal shaft segment and distal shaft segments; and at least one rotary driven flexible cable arranged to drivingly engage a corresponding portion of the ball member or socket for retaining a portion of said ball member in said socket and upon rotation thereof, articulate said distal shaft segment relative to said proximal shaft segment; and a surgical implement attached to said distal shaft segment.
 8. The surgical instrument of claim 7, wherein said at least one rotary driven flexible cable is a first rotary driven cable arranged to drivingly engage a corresponding first portion of the ball member to apply an actuation motion thereto.
 9. The surgical instrument of claim 8, wherein said articulating joint assembly comprises a second rotary driven cable arranged to drivingly engage a corresponding second portion of the ball member to apply another actuation motion thereto.
 10. The surgical instrument of claim 9, wherein said first rotary driven cable is rotated by a first motor and said second rotary driven cable is rotated by a second motor.
 11. The surgical instrument of claim 7, wherein said ball member is non-movably coupled to said end of said distal shaft segment and is rotatably received in a socket in said end of said proximal tube segment.
 12. The surgical instrument of claim 7, wherein said surgical implement comprises an end effector. 